vision.h File Reference

#include <type_traits>
#include <algorithm>
#include <vector>
#include <array>
#include <opencv2/core/types.hpp>
#include <networktables/NetworkTableInstance.h>
#include <networktables/NetworkTable.h>
#include <cameraserver/CameraServer.h>
#include <wpi/StringExtras.h>
#include "visioncamera.h"

Include dependency graph for vision.h:

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Go to the source code of this file.

Functions
cv::Size	getResolution (cs::VideoMode vm)
cs::VideoMode	getJsonVideoMode (const wpi::json &config)
template<typename num_t , typename dnum_t >
static cv::Size_< num_t >	operator/ (cv::Size_< num_t > input, dnum_t scale)
template<typename num_t >
bool	inRange (num_t a, num_t lower, num_t upper)
template<typename t >
void	reinsert (std::vector< t > &vec, size_t idx)
template<typename t >
void	swapIdx (std::vector< t > &vec, size_t idx1, size_t idx2)
template<typename num_t >
int	sgn (num_t val)
template<typename num_t >
cv::Size_< num_t >	distance (const cv::Point_< num_t > &a, const cv::Point_< num_t > &b)
template<typename num_t >
cv::Point3_< num_t >	distance (const cv::Point3_< num_t > &a, const cv::Point3_< num_t > &b)
template<typename num_t >
bool	operator< (const cv::Size_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
bool	operator<= (const cv::Size_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
bool	operator> (const cv::Size_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
bool	operator>= (const cv::Size_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
cv::Point_< num_t >	operator- (const cv::Point_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
cv::Point_< num_t >	operator+ (const cv::Point_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
cv::Size_< num_t >	operator- (const cv::Size_< num_t > &a, const cv::Point_< num_t > &b)
template<typename num_t >
cv::Size_< num_t >	operator+ (const cv::Size_< num_t > &a, const cv::Point_< num_t > &b)
template<typename inum1_t , typename inum2_t , typename onum_t >
cv::Size_< onum_t >	operator/ (const cv::Size_< inum1_t > &a, const cv::Size_< inum2_t > &b)
template<typename num_t >
void	operator-= (const cv::Point_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
void	operator+= (const cv::Point_< num_t > &a, const cv::Size_< num_t > &b)
template<typename num_t >
void	operator-= (const cv::Size_< num_t > &a, const cv::Point_< num_t > &b)
template<typename num_t >
void	operator+= (const cv::Size_< num_t > &a, const cv::Point_< num_t > &b)
template<typename num_t >
void	rescale (std::vector< cv::Point_< num_t > > &points, size_t scale)
template<typename num_t >
void	_rescale (std::vector< cv::Point_< num_t > > &points, size_t scale)
template<typename num_t >
void	rescale (std::vector< cv::Point_< num_t > > &points, double scale)
template<typename num_t >
void	rescale (std::vector< std::vector< cv::Point_< num_t > > > &contours, double scale)
template<typename num_t >
void	rescale (std::vector< cv::Rect_< num_t > > &rects, double scale)
template<typename num_t >
cv::Point_< num_t >	findCenter (const std::vector< cv::Point_< num_t > > &contour)
template<typename onum_t , typename inum_t >
cv::Point_< onum_t >	findCenter (const std::vector< cv::Point_< inum_t > > &contour)
template<typename num_t >
cv::Point3_< num_t >	findCenter3D (const std::vector< cv::Point3_< num_t > > &contour)
template<typename onum_t , typename inum_t >
cv::Point3_< onum_t >	findCenter3D (const std::vector< cv::Point3_< inum_t > > &contour)
template<typename num_t >
cv::Point_< num_t >	findCenter (const cv::Rect_< num_t > &rect)
template<typename onum_t , typename inum_t >
cv::Point_< onum_t >	findCenter (const cv::Rect_< inum_t > &rect)
template<typename num_t >
void	reorderClockWise (std::vector< cv::Point_< num_t > > &points)
template<typename num_t >
void	reorderCClockWise (std::vector< cv::Point_< num_t > > &points)
template<typename num_t , size_t s>
std::array< cv::Point3_< num_t >, s >	operator+ (const std::array< cv::Point_< num_t >, s > &base, num_t depth)
template<typename num_t , size_t s>
std::array< cv::Point3_< num_t >, s >	operator+ (const std::array< cv::Point3_< num_t >, s > &base, num_t depth)
template<typename num_t , size_t s>
void	operator+= (std::array< cv::Point3_< num_t >, s > &base, num_t depth)
template<typename num_t >
std::vector< cv::Point3_< num_t > >	operator+ (const std::vector< cv::Point_< num_t > > &base, num_t depth)
template<typename num_t >
std::vector< cv::Point3_< num_t > >	operator+ (const std::vector< cv::Point3_< num_t > > &base, num_t depth)
template<typename num_t >
void	operator+= (std::vector< cv::Point3_< num_t > > &base, num_t depth)

Variables
template<typename num_t , size_t s>
const auto	extend_array = operator+=<num_t, s>
template<typename num_t >
const auto	extend_vector = operator+=<num_t>

Function Documentation

getResolution()

cv::Size getResolution ( cs::VideoMode  vm )

inline

This file contains vision-related helper functions used throughout the framework Starts a stream and creates a networktable value for changing which camera is streamed

Parameters

cameras	A vector of VisionCameras to be used
table	A networktable in which to put the camera index entries

Returns

A cs::CvSink which is is the source for the stream Extracts the height and width of a cs::VideoMode object and converts to cv::Size

Parameters

vm	The cs::VideoMode object to get resolution from

Returns

The resolutuion in cv::Size format

Definition at line 38 of file vision.h.

getJsonVideoMode()

cs::VideoMode getJsonVideoMode

(

const wpi::json &

config

)

Extracts videomode properties from a config json - 0-values returned if config is invalid

Returns

The VideoMode object

Definition at line 32 of file vision.cpp.

operator/() [1/2]

template<typename num_t , typename dnum_t >

static cv::Size_< num_t > operator/ ( cv::Size_< num_t >  input, dnum_t  scale  )

inlinestatic

Adds a networktable entry to the provided networktable with a listener that will update the variable to match the networktable entry

Parameters

num_t	Any numeric type - does not need to be explicitly provided
var	A reference to the numeric variable
name	The name of the entry
table	The root networktable Adds a networktable entry to the provided networktable with a listener that will update the variable to match the networktable entry
var	A reference to the boolean variable
name	The name of the entry
table	The root networktable Divides a both parts of a cv::Size object by the specified scale
num_t	The numberic type used in the cv::Size input (and function output) - does not need to be explicitly provided
dnum_t	The numberic type used for the devisor
input	The input size
scale	The amount to be divided by

Returns

A new cv::Size representing the division

Definition at line 72 of file vision.h.

inRange()

template<typename num_t >

bool inRange ( num_t  a, num_t  lower, num_t  upper  )

inline

Definition at line 84 of file vision.h.

reinsert()

template<typename t >

void reinsert	(	std::vector< t > &	vec,
		size_t	idx
	)

Definition at line 91 of file vision.h.

swapIdx()

template<typename t >

void swapIdx ( std::vector< t > &  vec, size_t  idx1, size_t  idx2  )

inline

Definition at line 96 of file vision.h.

sgn()

template<typename num_t >

int sgn ( num_t  val )

inline

Definition at line 101 of file vision.h.

distance() [1/2]

template<typename num_t >

cv::Size_< num_t > distance ( const cv::Point_< num_t > &  a, const cv::Point_< num_t > &  b  )

inline

Definition at line 104 of file vision.h.

distance() [2/2]

template<typename num_t >

cv::Point3_< num_t > distance ( const cv::Point3_< num_t > &  a, const cv::Point3_< num_t > &  b  )

inline

Definition at line 109 of file vision.h.

operator<()

template<typename num_t >

bool operator< ( const cv::Size_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 115 of file vision.h.

operator<=()

template<typename num_t >

bool operator<= ( const cv::Size_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 120 of file vision.h.

operator>()

template<typename num_t >

bool operator> ( const cv::Size_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 125 of file vision.h.

operator>=()

template<typename num_t >

bool operator>= ( const cv::Size_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 130 of file vision.h.

operator-() [1/2]

template<typename num_t >

cv::Point_< num_t > operator- ( const cv::Point_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 136 of file vision.h.

operator+() [1/6]

template<typename num_t >

cv::Point_< num_t > operator+ ( const cv::Point_< num_t > &  a, const cv::Size_< num_t > &  b  )

inline

Definition at line 141 of file vision.h.

operator-() [2/2]

template<typename num_t >

cv::Size_< num_t > operator- ( const cv::Size_< num_t > &  a, const cv::Point_< num_t > &  b  )

inline

Definition at line 146 of file vision.h.

operator+() [2/6]

template<typename num_t >

cv::Size_< num_t > operator+ ( const cv::Size_< num_t > &  a, const cv::Point_< num_t > &  b  )

inline

Definition at line 151 of file vision.h.

operator/() [2/2]

template<typename inum1_t , typename inum2_t , typename onum_t >

cv::Size_< onum_t > operator/ ( const cv::Size_< inum1_t > &  a, const cv::Size_< inum2_t > &  b  )

inline

Definition at line 157 of file vision.h.

operator-=() [1/2]

template<typename num_t >

void operator-=	(	const cv::Point_< num_t > &	a,
		const cv::Size_< num_t > &	b
	)

operator+=() [1/4]

template<typename num_t >

void operator+=	(	const cv::Point_< num_t > &	a,
		const cv::Size_< num_t > &	b
	)

operator-=() [2/2]

template<typename num_t >

void operator-=	(	const cv::Size_< num_t > &	a,
		const cv::Point_< num_t > &	b
	)

operator+=() [2/4]

template<typename num_t >

void operator+=	(	const cv::Size_< num_t > &	a,
		const cv::Point_< num_t > &	b
	)

rescale() [1/4]

template<typename num_t >

void rescale	(	std::vector< cv::Point_< num_t > > &	points,
		size_t	scale
	)

vision.inc

Definition at line 250 of file vision.h.

_rescale()

template<typename num_t >

void _rescale	(	std::vector< cv::Point_< num_t > > &	points,
		size_t	scale
	)

Definition at line 257 of file vision.h.

rescale() [2/4]

template<typename num_t >

void rescale	(	std::vector< cv::Point_< num_t > > &	points,
		double	scale
	)

Definition at line 264 of file vision.h.

rescale() [3/4]

template<typename num_t >

void rescale	(	std::vector< std::vector< cv::Point_< num_t > > > &	contours,
		double	scale
	)

Definition at line 271 of file vision.h.

rescale() [4/4]

template<typename num_t >

void rescale	(	std::vector< cv::Rect_< num_t > > &	rects,
		double	scale
	)

Definition at line 280 of file vision.h.

findCenter() [1/4]

template<typename num_t >

cv::Point_< num_t > findCenter

(

const std::vector< cv::Point_< num_t > > &

contour

)

Definition at line 291 of file vision.h.

findCenter() [2/4]

template<typename onum_t , typename inum_t >

cv::Point_< onum_t > findCenter

(

const std::vector< cv::Point_< inum_t > > &

contour

)

Definition at line 306 of file vision.h.

findCenter3D() [1/2]

template<typename num_t >

cv::Point3_< num_t > findCenter3D

(

const std::vector< cv::Point3_< num_t > > &

contour

)

Definition at line 322 of file vision.h.

findCenter3D() [2/2]

template<typename onum_t , typename inum_t >

cv::Point3_< onum_t > findCenter3D

(

const std::vector< cv::Point3_< inum_t > > &

contour

)

Definition at line 339 of file vision.h.

findCenter() [3/4]

template<typename num_t >

cv::Point_< num_t > findCenter

(

const cv::Rect_< num_t > &

rect

)

Definition at line 358 of file vision.h.

findCenter() [4/4]

template<typename onum_t , typename inum_t >

cv::Point_< onum_t > findCenter

(

const cv::Rect_< inum_t > &

rect

)

Definition at line 368 of file vision.h.

reorderClockWise()

template<typename num_t >

void reorderClockWise

(

std::vector< cv::Point_< num_t > > &

points

)

Definition at line 380 of file vision.h.

reorderCClockWise()

template<typename num_t >

void reorderCClockWise

(

std::vector< cv::Point_< num_t > > &

points

)

Definition at line 394 of file vision.h.

operator+() [3/6]

template<typename num_t , size_t s>

std::array< cv::Point3_< num_t >, s > operator+	(	const std::array< cv::Point_< num_t >, s > &	base,
		num_t	depth
	)

Definition at line 409 of file vision.h.

operator+() [4/6]

template<typename num_t , size_t s>

std::array< cv::Point3_< num_t >, s > operator+	(	const std::array< cv::Point3_< num_t >, s > &	base,
		num_t	depth
	)

Definition at line 418 of file vision.h.

operator+=() [3/4]

template<typename num_t , size_t s>

void operator+=	(	std::array< cv::Point3_< num_t >, s > &	base,
		num_t	depth
	)

Definition at line 427 of file vision.h.

operator+() [5/6]

template<typename num_t >

std::vector< cv::Point3_< num_t > > operator+	(	const std::vector< cv::Point_< num_t > > &	base,
		num_t	depth
	)

Definition at line 434 of file vision.h.

operator+() [6/6]

template<typename num_t >

std::vector< cv::Point3_< num_t > > operator+	(	const std::vector< cv::Point3_< num_t > > &	base,
		num_t	depth
	)

Definition at line 443 of file vision.h.

operator+=() [4/4]

template<typename num_t >

void operator+=	(	std::vector< cv::Point3_< num_t > > &	base,
		num_t	depth
	)

Definition at line 452 of file vision.h.

Variable Documentation

extend_array

template<typename num_t , size_t s>

const auto extend_array = operator+=<num_t, s>

Definition at line 217 of file vision.h.

extend_vector

template<typename num_t >

const auto extend_vector = operator+=<num_t>

Definition at line 219 of file vision.h.